SYLLABUS 4 JNTU BME - ROBOTICS AND AUTOMATION (ELECTIVE-IV)

ROBOTICS AND AUTOMATION (ELECTIVE-IV)

UNIT – I BASIC CONCEPTS
Automation and Robotics – An over view of Robotics – present and future applications – classification by coordinate system and control system, Dynamic stabilization of Robotics.

UNIT – II POWER SOURCES AND SENSORS
Hydraulic, Pneumatic and electric drivers – Determination HP of motor and gearing ratio, variable speed arrangements, Path Determination - Machinery Vision – Ranging – Laser – Acoustic, Magnetic Fiber Optic and Tactile Sensor

UNIT – III MANUPULATORS
Construction of Manupulators, Manupulator Dynamic and Force Control, Electronic and Pneumatic manupulators.

UNIT – IV ACTUATORS AND GRIPPERS
Pneumatic, Hydraulic Actuators, Stepper Motor Control Circuits, End Effecter, Various types of Grippers, Design consideration.

UNIT – V
Differential transformation and manipulators, Jacobians – problems.Dynamics: Lagrange – Euler and Newton – Euler formations – Problems.

UNIT VI KINEMATICS
Forward and Inverse Kinematic Problems, Solutions of Inverse Kinematic problems, Multiple Solution, Jacobian Work Envelop – Hill Climbing Techniques.

UNIT VII PATH PLANNING
Trajectory planning and avoidance of obstacles, path planning, Skew motion, joint integrated motion – straight line motion – Robot programming, languages and software packages.

UNIT VIII CASE STUDY
Multiple Robots – Machine Interface – Robots in Manufacturing and Non-Manufacturing applications – Robot Cell Design Selection of a Robot.

TEXT BOOKS:
1. Industrial Robotics / Groover M P /Pearson Edu.
2. Robotics / Fu K S/ McGraw Hill.
3.
REFERENCES:
1. Robotics, CSP Rao and V.V. Reddy, Pearson Publications (In press)
2. Robotics and Control / Mittal R K & Nagrath I J / TMH.
3. An Introduction to Robot Technology, / P. Coiffet and M. Chaironze / Kogam Page Ltd. 1983 London.
4. Robotic Engineering / Richard D. Klafter, Prentice Hall
5. Robot Analysis and Intelligence / Asada and Slow time / Wiley Inter-Science
6. Introduction to Robotics / John J Craig / Pearson Edu.
7. Robot Dynamics and Control by Mark W. Spong and M. Vidyasagar, John Wiley & Sons